EP0148677A1 - Magnetic robot wrist - Google Patents

Magnetic robot wrist Download PDF

Info

Publication number
EP0148677A1
EP0148677A1 EP84402575A EP84402575A EP0148677A1 EP 0148677 A1 EP0148677 A1 EP 0148677A1 EP 84402575 A EP84402575 A EP 84402575A EP 84402575 A EP84402575 A EP 84402575A EP 0148677 A1 EP0148677 A1 EP 0148677A1
Authority
EP
European Patent Office
Prior art keywords
elements
arm
end piece
robot wrist
magnetized
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP84402575A
Other languages
German (de)
French (fr)
Other versions
EP0148677B1 (en
Inventor
Gino Gabrielli
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
OFFERTA DI LICENZA AL PUBBLICO
Original Assignee
Automobiles Peugeot SA
Automobiles Citroen SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Automobiles Peugeot SA, Automobiles Citroen SA filed Critical Automobiles Peugeot SA
Publication of EP0148677A1 publication Critical patent/EP0148677A1/en
Application granted granted Critical
Publication of EP0148677B1 publication Critical patent/EP0148677B1/en
Expired legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together
    • B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together
    • B23P19/12—Alignment of parts for insertion into bores
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S403/00—Joints and connections
    • Y10S403/01—Magnetic
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T403/00—Joints and connections
    • Y10T403/32—Articulated members
    • Y10T403/32975—Rotatable

Definitions

  • a robot generally comprises a wrist suitable for performing a given operation, a wrist which it can move to bring it to a point of defined coordinates to which the axis of the wrist is presented in a direction also defined, for example vertical.
  • a robot of this kind can in particular be used to introduce a male part into a bore, the end of the part and / or the opening of the bore being chamfered to facilitate this operation. If the axis of the robot's wrist coincides perfectly with the axis of the bore, it suffices to move the wrist in the direction of this axis to insert the part in the bore. But, in general, coincidence can only be achieved within the tolerance of the robot; it may therefore happen that the insertion cannot be carried out.
  • Robot wrists which allow a male part to be easily inserted into a bore, when the end of the part and / or the opening of the bore are chamfered, and which include an arm connected to the robot, a nozzle. suitable for carrying the part, connecting elements integral with the arm and the end piece, allowing free movement of the end piece relative to the arm, and ensuring self-centering of this end piece.
  • Such robots are described in particular in US patents 4,098,001, 4,337,579.4 179,783 or in French patent 2,506,195. But, in these robot wrists, the connection between the arm and the endpiece is relatively complicated .
  • French patent 1 504 027 also describes a magnetic centering device comprising on the one hand a magnetic suction cup formed by two concentric rings magnetized radially and separated by an air gap, and on the other hand a center piece which is made of plastic and in the mass of which are embedded at least three bars or metal balls. Glass balls can possibly be interposed between the suction cup and the part to reduce friction and facilitate centering.
  • a magnetic centering device comprising on the one hand a magnetic suction cup formed by two concentric rings magnetized radially and separated by an air gap, and on the other hand a center piece which is made of plastic and in the mass of which are embedded at least three bars or metal balls. Glass balls can possibly be interposed between the suction cup and the part to reduce friction and facilitate centering.
  • a magnetic device can practically not be used in known robot wrists.
  • the subject of the present invention is a robot wrist of the above type, characterized in that the connecting means comprise two magnetic elements in the direction of their axis, which are interposed between the arm and the end piece, arranged so as to attract each other, and separated from each other by balls.
  • the balls are preferably magnetized. They thus perform a dual function. In the presence of a lateral force exerted on the tip, they allow freedom of movement; in the absence of lateral force, they transmit the magnetic flux and ensure centering by distributing evenly between the two magnetized faces.
  • the opposite faces of the magnetized elements can be flat, the elements being respectively secured to the arms and the end piece.
  • the tip can thus move parallel to itself in any direction, having two degrees of freedom.
  • the opposite faces of the magnetized elements can also be spherical, one concave and the other convex, the elements being secured respectively to the arm and the end piece. The tip can thus be oriented in any direction relative to the arm.
  • connection means comprise three different elements magnetized in the direction of their axis, which are superimposed and separated from each other by balls, one of the end elements being integral with the arm while the other is integral with the end piece, the central end piece having a flat face opposite a flat face of one of the end elements and a spherical, concave face or convex opposite a spherical face, respectively convex or concave, of the other end element.
  • the tip thus has four degrees of freedom relative to the arm.
  • the opposite faces of the magnetized elements preferably have the same cross section. These elements then tend, under the effect of magnetic forces, to be positioned exactly opposite one another, thus ensuring self-centering of the end piece relative to the arm.
  • the robot wrist includes an arm 1 which has a shoulder 2 and an end portion 3 of reduced diameter; the latter is engaged in the bore 4 of a flat disc 5 which is magnetized in the direction of the axis of the arm and of the disc, that is to say that its magnetized faces are its faces perpendicular to this axis.
  • the disc is held against the shoulder 2 by a non-magnetic washer 6 fixed by screws 7.
  • the robot wrist also includes a tip 8 having a bore 9 in which is disposed a magnetic disc 10, of the same shape and the same section as the disc 5. This disc is held in the bore 9 by a non-magnetic washer 11 fixed by screws 12 on the edge of the nozzle 8.
  • the end piece 8 is arranged so that the two discs 5 and 10 are opposite; these discs are fixed so that their opposite faces have opposite polarities and thus tend to attract each other. They are kept separated from each other by metal balls 13 which are interposed between them allowing small displacements of the nozzle 8 parallel to itself relative to the arm 1.
  • the washers 7 and and They serve as internal and external buffers for these balls and prevent them from escaping.
  • the mutual attraction of the two discs 5 and 10 and the transmission of the magnetic flux by the balls 13 ensure self-centering of the end piece 8 relative to the arm 1 and a homogeneous distribution of the balls in the separation interval 14.
  • the end piece 8 has, at its end opposite the disc 5, a reduced diameter portion 15 provided with an axial bore 16.
  • this bore can be fitted a part 17, for example cylindrical, the end of which has a chamfer 18 and which is intended to be inserted in a bore 19, also provided with a chamfer 20, with a fixed part 21.
  • the part 17 can be held in the endpiece by a ball or a support roller 22 on which a spring 23 can exert a thrust by means of a washer 24.
  • the latter is integral with a pull rod axial 25 controlled by an electromagnet 26.
  • the magnetization of the discs 5 and 10 is such that the attraction force is greater than the weight of the end piece 8 carrying the part 17.
  • the transverse force exerted by the chamfer 18 causes a displacement of the end piece by rolling of the balls 13 against the opposite faces of the discs 5 and 10.
  • the electromagnet 26 is actuated so that the support washer 24 moves away from the ball or the roller 22, the part thus no longer held in the bore 16.
  • the transverse force exerted on the end piece disappears and this end piece automatically refocuses under the effect of the attraction of the two discs.
  • FIG. 2 there is again the arm 1 on which the magnetic disc 5 is fixed. But opposite this is a magnetic part 27 which has a circular planar face 28 facing the disc 5, of the same cross section as this disc, the balls 13 being interposed between this flat face and the disc, and a concave spherical face 29.
  • the wrist also includes another magnetized part 30, fixed in the end piece 8 and having a spherical face convex 31 disposed opposite the spherical face 29 of the part 27, these two faces having the same cross section and having opposite polarities.
  • the two faces 29 of the part have the same center located in the vicinity of the end of the part to be inserted 17.
  • Metal balls 32 are interposed between the two faces 29 and 31. Washers similar to washers 6 and 11 and not shown in the drawing prevent the balls 13 and 32 from escaping.
  • the part 17 can thus move parallel to itself relative to the arm 1 in any direction while the end piece 8 can pivot in any direction relative to the part 27. It can thus be seen that it it is possible to correct a position defect according to two degrees of freedom and an orientation defect also according to two degrees of freedom.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Poignet de robot destiné à introduire une pièce mâle dans un alésage, l'extrémité de la pièce et/ou l'ouverture de l'alésage étant chanfreinées, et qui comprend un bras (1) relié au robot, un embout (8) propre à porter la pièce (17) et des éléments de liaison solidaires du bras et de l'embout, permettant un déplacement libre de l'embout par rapport au bras, et assurant un autocentrage de cet embout. Les moyens de liaison comprennent deux éléments (5, 10, 27 ou 30) aimantés dans la direction de leur axe, qui sont interposés entre le bras et l'embout, disposés de manière à s'attirer mutuellement, et séparés l'un de l'autre par des billes.Robot wrist intended to introduce a male part into a bore, the end of the part and / or the opening of the bore being chamfered, and which comprises an arm (1) connected to the robot, a clean end (8) to wear the part (17) and connecting elements integral with the arm and the tip, allowing free movement of the tip relative to the arm, and ensuring self-centering of this tip. The connecting means comprise two elements (5, 10, 27 or 30) magnetized in the direction of their axis, which are interposed between the arm and the end piece, arranged so as to attract each other, and separated from one the other by balls.

Description

Un robot comporte, en général, un poignet propre à exécuter une opération donnée, poignet qu'il peut déplacer pour l'amener en un point de coordonnées définies auquel l'axe du poignet se présente selon une direction également définie, par exemple verticale.A robot generally comprises a wrist suitable for performing a given operation, a wrist which it can move to bring it to a point of defined coordinates to which the axis of the wrist is presented in a direction also defined, for example vertical.

Un robot de ce genre peut notamment être utilisé pour introduire une pièce mâle dans un alésage, l'extrémité de la pièce et/ou l'ouverture de l'alésage étant chanfreinées pour faciliter cette opération. Si l'axe du poignet du robot coïncide parfaitement avec l'axe de l'alésage, il suffit de déplacer le poignet dans la direction de cet axe pour insérer la pièce dans l'alésage. Mais, en général, la coïncidence ne peut être réalisée que dans les limites de la tolérance du robot; il peut donc arriver que l'insertion ne puisse s'effectuer.A robot of this kind can in particular be used to introduce a male part into a bore, the end of the part and / or the opening of the bore being chamfered to facilitate this operation. If the axis of the robot's wrist coincides perfectly with the axis of the bore, it suffices to move the wrist in the direction of this axis to insert the part in the bore. But, in general, coincidence can only be achieved within the tolerance of the robot; it may therefore happen that the insertion cannot be carried out.

On connaît des poignets de robot qui permettent d'introduire facilement une pièce mâle dans un alésage, lorsque l'extrémité de la pièce et/ou l'ouverture de l'alésage sont chanfreinées, et qui comprennent un bras relié au robot, un embout propre à porter la pièce, des éléments de liaison solidaires du bras et de l'embout, permettant un déplacement libre de l'embout par rapport au bras, et assurant un autocentrage de cet embout. De tels robots sont décrits notamment dans les brevets US 4 098 001 , 4 337 579,4 179 783 ou dans le brevet français 2 506 195. Mais, dans ces poignets de robot, la liaison entre le bras et l'embout est relativement compliquée.Robot wrists are known which allow a male part to be easily inserted into a bore, when the end of the part and / or the opening of the bore are chamfered, and which include an arm connected to the robot, a nozzle. suitable for carrying the part, connecting elements integral with the arm and the end piece, allowing free movement of the end piece relative to the arm, and ensuring self-centering of this end piece. Such robots are described in particular in US patents 4,098,001, 4,337,579.4 179,783 or in French patent 2,506,195. But, in these robot wrists, the connection between the arm and the endpiece is relatively complicated .

Le brevet français 1 504 027 décrit par ailleurs un dispositif magnétique de centrage comprenant d'une part une ventouse magnétique formée de deux anneaux concentriques aimantés radialement et séparés par un entrefer, et d'autre part une pièce à centrer qui est en matière plastique et dans la masse de laquelle sont noyés au moins trois barreaux ou billes métalliques. Des billes en verre peuvent éventuellement être interposées entre la ventouse et la pièce pour réduire le frottement et faciliter le centrage. Mais un tel dispositif magnétique ne peut pratiquement pas être utilisé dans les poignets de robot connus.French patent 1 504 027 also describes a magnetic centering device comprising on the one hand a magnetic suction cup formed by two concentric rings magnetized radially and separated by an air gap, and on the other hand a center piece which is made of plastic and in the mass of which are embedded at least three bars or metal balls. Glass balls can possibly be interposed between the suction cup and the part to reduce friction and facilitate centering. However, such a magnetic device can practically not be used in known robot wrists.

La présente invention a pour objet un poignet de robot de type ci-dessus, caractérisé en ce que les moyens de liaison comprennent deux éléments aimantés dans la direction de leur axe, qui sont interposés entre le bras et l'embout, disposés de manière à s'attirer mutuellement, et séparés l'un de l'autre par des billes.The subject of the present invention is a robot wrist of the above type, characterized in that the connecting means comprise two magnetic elements in the direction of their axis, which are interposed between the arm and the end piece, arranged so as to attract each other, and separated from each other by balls.

Les billes sont de préférence aimantées. Elles assurent ainsi une double fonction. En présence d'une force latérale exercée sur l'embout, elles permettent la liberté de mouvement; en l'absence de force latérale, elles transmettent le flux magnétique et assurent le centrage en se répartissant de façon homogène entre les deux faces aimantées.The balls are preferably magnetized. They thus perform a dual function. In the presence of a lateral force exerted on the tip, they allow freedom of movement; in the absence of lateral force, they transmit the magnetic flux and ensure centering by distributing evenly between the two magnetized faces.

Les faces en regard des éléments aimantés peuvent être planes, les éléments étant solidaires respectivement des bras et de l'embout. L'embout peut ainsi se déplacer parallèlement à lui-même dans n'importe quelle direction, en ayant deux degrés de liberté. Les faces en regard des éléments aimantés peuvent également être sphériques, l'une concave et l'autre convexe, les éléments étant solidaires respectivement du bras et de l'embout. L'embout peut ainsi s'orienter dans n'importe quelle direction par rapport au bras.The opposite faces of the magnetized elements can be flat, the elements being respectively secured to the arms and the end piece. The tip can thus move parallel to itself in any direction, having two degrees of freedom. The opposite faces of the magnetized elements can also be spherical, one concave and the other convex, the elements being secured respectively to the arm and the end piece. The tip can thus be oriented in any direction relative to the arm.

Dans un mode particulier de l'invention, les moyens de liaison comprennent trois éléments différents aimantés dans la direction de leur axe, qui sont superposés et séparés les uns des autres par des billes, l'un des élément d'extrémité étant solidaire du bras alors que l'autre est solidaire de l'embout, l'embout central présentant une face plane en regard d'une face plane de l'un des éléments d'extrémité et une face sphérique, concave ou convexe en regard d'une face sphérique, respectivement convexe ou concave, de l'autre élément d'extrémité. L'embout possède ainsi quatre degrés de liberté par rapport au bras.In a particular embodiment of the invention, the connection means comprise three different elements magnetized in the direction of their axis, which are superimposed and separated from each other by balls, one of the end elements being integral with the arm while the other is integral with the end piece, the central end piece having a flat face opposite a flat face of one of the end elements and a spherical, concave face or convex opposite a spherical face, respectively convex or concave, of the other end element. The tip thus has four degrees of freedom relative to the arm.

Les faces en regard des éléments aimantés ont de préférence même section transversale. Ces éléments tendent alors, sous l'effet des forces magnétiques, à se disposer exactement en regard l'un de l'autre en assurant ainsi un autocentrage de l'embout par rapport au bras.The opposite faces of the magnetized elements preferably have the same cross section. These elements then tend, under the effect of magnetic forces, to be positioned exactly opposite one another, thus ensuring self-centering of the end piece relative to the arm.

On a décrit ci-après,à titre d'exemple non limitatif, deux modes de réalisation d'un poignet de robot selon l'invention avec référence au dessin annexé dans lequel :

  • La Figure 1 est le schéma d'un poignet admettant un déplacement plan, à deux degrés de liberté;
  • La Figure 2 est le schéma d'un poignet admettant à la fois un déplacement plan et un déplacement angulaire, l'ensemble ayant quatre degrés de liberté.
Two embodiments have been described below, by way of nonlimiting example, of a robot wrist according to the invention with reference to the appended drawing in which:
  • Figure 1 is the diagram of a wrist admitting a plane displacement, with two degrees of freedom;
  • Figure 2 is the diagram of a wrist admitting both a planar displacement and an angular displacement, the assembly having four degrees of freedom.

Tel qu'il est représenté à la Figure 1, le poignet de robot comprend un bras 1 qui présente un épaulement 2 et une partie d'extrémité 3 de diamètre réduit; cette dernière est engagée dans l'alésage 4 d'un disque plan 5 qui est aimanté dans la direction de l'axe du bras et du disque, c'est-à-dire que ses faces aimantées sont ses faces perpendiculaires à cet axe. Le disque est maintenu contre l'épaulement 2 par une rondelle amagnétique 6 fixée par des vis 7.As shown in Figure 1, the robot wrist includes an arm 1 which has a shoulder 2 and an end portion 3 of reduced diameter; the latter is engaged in the bore 4 of a flat disc 5 which is magnetized in the direction of the axis of the arm and of the disc, that is to say that its magnetized faces are its faces perpendicular to this axis. The disc is held against the shoulder 2 by a non-magnetic washer 6 fixed by screws 7.

Le poignet de robot comprend également un embout 8 présentant un alésage 9 dans lequel est disposé un disque aimanté 10, de même forme et de même section que le disque 5. Ce disque est maintenu dans l'alésage 9 par une rondelle amagnétique 11 fixée par des vis 12 sur la tranche de l'embout 8.The robot wrist also includes a tip 8 having a bore 9 in which is disposed a magnetic disc 10, of the same shape and the same section as the disc 5. This disc is held in the bore 9 by a non-magnetic washer 11 fixed by screws 12 on the edge of the nozzle 8.

L'embout 8 est disposé de façon que les deux disques 5 et 10 soient en vis à vis; ces disques sont fixés de manière que leurs faces en regard présentent des polarités contraires et tendent ainsi à s'attirer mutuellement. Ils sont maintenus séparés l'un de l'autre par des billes métalliques 13 qui sont intercalées entre eux en permettant de petits déplacements de l'embout 8 parallèlement à lui-même par rapport au bras 1. Les rondelles 7 et et Il servent de butoirs intérieur et extérieur pour ces billes et les empêchent de s'échapper.The end piece 8 is arranged so that the two discs 5 and 10 are opposite; these discs are fixed so that their opposite faces have opposite polarities and thus tend to attract each other. They are kept separated from each other by metal balls 13 which are interposed between them allowing small displacements of the nozzle 8 parallel to itself relative to the arm 1. The washers 7 and and They serve as internal and external buffers for these balls and prevent them from escaping.

L'attraction mutuelle des deux disques 5 et 10 et la transmission du flux magnétique par les billes 13 assurent un autocentrage de l'embout 8 par rapport au bras 1 et une répartition homogène des billes dans l'intervalle de séparation 14. L'embout 8 présente, à son extrémité opposée au disque 5, une partie de diamètre réduit 15 munie d'un perçage axial 16. Dans ce perçage peut être emmanchée une pièce 17, par exemple cylindrique, dont l'extrémité présente un chanfrein 18 et qui est destiné à être inséré dans un alésage 19, également muni d'un chanfrein 20, d'une pièce fixe 21.The mutual attraction of the two discs 5 and 10 and the transmission of the magnetic flux by the balls 13 ensure self-centering of the end piece 8 relative to the arm 1 and a homogeneous distribution of the balls in the separation interval 14. The end piece 8 has, at its end opposite the disc 5, a reduced diameter portion 15 provided with an axial bore 16. In this bore can be fitted a part 17, for example cylindrical, the end of which has a chamfer 18 and which is intended to be inserted in a bore 19, also provided with a chamfer 20, with a fixed part 21.

La pièce 17 peut être maintenue dans l'embout par une bille ou un galet d'appui 22 sur lequel un ressort 23 peut exercer une poussée par l'intermédiaire d'une rondelle 24. Celle-ci est solidaire d'une tige de traction axiale 25 commandée par un électro-aimant 26.The part 17 can be held in the endpiece by a ball or a support roller 22 on which a spring 23 can exert a thrust by means of a washer 24. The latter is integral with a pull rod axial 25 controlled by an electromagnet 26.

L'aimantation des disques 5 et 10 est telle que la force d'attraction soit supérieure au poids de l'embout 8 portant la pièce 17.The magnetization of the discs 5 and 10 is such that the attraction force is greater than the weight of the end piece 8 carrying the part 17.

Quand la pièce 17 est engagée dans le chanfrein de l'alésage 19 et que le poignet est déplacé verticalement pour insérer cette pièce 17 dans l'alésage, l'effort transversal exercé par le chanfrein 18 provoque un déplacement de l'embout par roulement des billes 13 contre les faces en regard des disques 5 et 10. Après insertion de la pièce 17, l'électro-aimant 26 est actionné de sorte que la rondelle d'appui 24 s'écarte de la bille ou du galet 22, la pièce n'étant ainsi plus maintenue dans le perçage 16. Dès que le bras ayant reculé, la pièce 17 est libérée, l'effort transversal exercé sur l'embout disparait et cet embout se recentre automatiquement sous l'effet de l'attraction des deux disques.When the part 17 is engaged in the chamfer of the bore 19 and the wrist is moved vertically to insert this part 17 in the bore, the transverse force exerted by the chamfer 18 causes a displacement of the end piece by rolling of the balls 13 against the opposite faces of the discs 5 and 10. After insertion of the part 17, the electromagnet 26 is actuated so that the support washer 24 moves away from the ball or the roller 22, the part thus no longer held in the bore 16. As soon as the arm having moved back, the part 17 is released, the transverse force exerted on the end piece disappears and this end piece automatically refocuses under the effect of the attraction of the two discs.

Dans le mode de réalisation de la figure 2, on retrouve le bras 1 sur lequel est fixé le disque aimanté 5. Mais en regard de celui-ci se trouve une pièce aimantée 27 qui présente une face plane circulaire 28 tournée vers le disque 5, de même section transversale que ce disque, les billes 13 étant intercalées entre cette face plane et le disque, et une face sphérique concave 29. Le poignet comporte par ailleurs une autre pièce aimantée 30, fixée dans l'embout 8 et présentant une face sphérique convexe 31 disposée vis à vis de la face sphérique 29 de la pièce 27, ces deux faces ayant même section transversale et présentant des polarités contraires. Les deux faces 29 de la pièce présen- sentent un même centre situé au voisinage de l'extrémité de la pièce à introduire 17. Des billes métalliques 32 sont interposées entre les deux faces 29 et 31.Des rondelles analogues aux rondelles 6 et 11 et non représentées au dessin empêchent les billes 13 et 32 de s'échapper.In the embodiment of FIG. 2, there is again the arm 1 on which the magnetic disc 5 is fixed. But opposite this is a magnetic part 27 which has a circular planar face 28 facing the disc 5, of the same cross section as this disc, the balls 13 being interposed between this flat face and the disc, and a concave spherical face 29. The wrist also includes another magnetized part 30, fixed in the end piece 8 and having a spherical face convex 31 disposed opposite the spherical face 29 of the part 27, these two faces having the same cross section and having opposite polarities. The two faces 29 of the part have the same center located in the vicinity of the end of the part to be inserted 17. Metal balls 32 are interposed between the two faces 29 and 31. Washers similar to washers 6 and 11 and not shown in the drawing prevent the balls 13 and 32 from escaping.

La pièce 17 peut ainsi se déplacer parallèlement à elle-même par rapport au bras 1 dans n'importe quelle direction alors que l'embout 8 peut pivoter dans n'importe quel sens par rapport à la pièce 27. On voit ainsi qu'il est possible de corriger un défaut de position selon deux degrés de liberté et un défaut d'orientation également selon deux degrés de liberté.The part 17 can thus move parallel to itself relative to the arm 1 in any direction while the end piece 8 can pivot in any direction relative to the part 27. It can thus be seen that it it is possible to correct a position defect according to two degrees of freedom and an orientation defect also according to two degrees of freedom.

Claims (9)

1. - Poignet de robot destiné à introduire une pièce mâle dans un alésage, l'extrémité de la pièce et/ou l'ouverture de l'alésage étant chanfreinées, et qui comprend un bras (1) relié au robot, un embout (8) propre à porter la pièce (17) et des éléments de liaison solidaires du bras et de l'embout, permettant un déplacement libre de l'embout par rapport au bras, et assurant un autocentrage de cet embout,
caractérisé en ce que les moyens de liaison comprennent deux éléments 5,10,27 ou 30 aimantés dans la direction de leur axe, qui sont interposés entre le bras et l'embout, disposés de manière à s'attirer mutuellement, et séparés l'un de l'autre par des billes,1. - Robot wrist intended to introduce a male part into a bore, the end of the part and / or the opening of the bore being chamfered, and which comprises an arm (1) connected to the robot, a nozzle ( 8) suitable for carrying the part (17) and connecting elements integral with the arm and the end piece, allowing free movement of the end piece relative to the arm, and ensuring self-centering of this end piece,
characterized in that the connecting means comprise two elements 5, 10, 27 or 30 magnetized in the direction of their axis, which are interposed between the arm and the end piece, arranged so as to attract each other, and separate the one another by balls, 2. - Poignet de robot selon la revendication 1,
caractérisé en ce que les billes (13 ou 32) sont métalliques.2. - robot wrist according to claim 1,
characterized in that the balls (13 or 32) are metallic. 3. - Poignet de robot selon la revendication 1 ou 2, caractérisé en ce que les faces en regard des éléments (5 et 10) sont planes, les éléments étant solidaires respectivement du bras (1) et de l'embout (8).3. - robot wrist according to claim 1 or 2, characterized in that the opposite faces of the elements (5 and 10) are planar, the elements being secured respectively to the arm (1) and the end piece (8). 4. - Poignet de robot selon la revendication 1 ou 2, caractérisé en ce que les faces en regard des éléments aimantés sont sphériques, l'une concave et l'autre convexe, les éléments étant solidaires respectivement du bras (1) et de l'embout (8).4. - robot wrist according to claim 1 or 2, characterized in that the opposite faces of the magnetized elements are spherical, one concave and the other convex, the elements being secured respectively to the arm (1) and the 'end piece (8). 5. - Poignet de robot selon la revendication 1 ou 2, caractérisé en ce que les moyens de liaison comprennent trois éléments (5,27 et 30) aimantés dans la direction de leur axe, qui sont superposés et séparés les uns des autres par des billes (13 ou 32), l'un des éléments d'extrémité étant solidaire du bras (1) alors que l'autre est solidaire de l'embout (8), l'élément central (27) présentant une face plane (28) en regard d'une face plane de l'un (5) des éléments d'extrémité et une face sphérique (29), concave ou convexe, en regard d'une face sphérique (21), respectivement convexe ou concave, de l'autre élément d'extrémité (30).5. - robot wrist according to claim 1 or 2, characterized in that the connecting means comprise three elements (5,27 and 30) magnetized in the direction of their axis, which are superimposed and separated from each other by balls (13 or 32), one of the end elements being secured to the arm (1) while the other is secured to the end piece (8), the central element (27) having a flat face (28 ) facing a flat face of one (5) of the end elements and a spherical face (29), concave or convex, facing a spherical face (21), respectively convex or concave, of l 'other end element (30). 6. - Poignet de robot selon l'une des revendications précédentes, caractérisé en ce que les faces en regard des éléments aimantés ont même section transversale.6. - Robot wrist according to one of the preceding claims, characterized in that the opposite faces of the magnetized elements have the same cross section. 7. - Poignet de robot selon l'une des revendications précédentes, caractérisé en ce que l'un (5) des éléments aimantés comporte un alésage dans lequel est engagé une extrémité (3) du bras (1) et est maintenu par une rondelle amagnétique (6) formant en même temps butoir intérieur pour les billes (13).7. - Robot wrist according to one of the preceding claims, characterized in that one (5) of the magnetized elements has a bore in which is engaged one end (3) of the arm (1) and is held by a washer non-magnetic (6) at the same time forming an internal stop for the balls (13). 8. - Poignet de robot selon l'une des revendications précédentes, caractérisé en ce que l'un (10) des éléments aimantés est engagé dans un évidement (9) de l'embout (8) et maintenu par une rondelle amagnétique (11) formant en même temps butoir extérieur pour les billes (13).8. - Robot wrist according to one of the preceding claims, characterized in that one (10) of the magnetized elements is engaged in a recess (9) of the end piece (8) and held by a non-magnetic washer (11 ) at the same time forming an external stop for the balls (13). 9. - Poignet de robot selon l'une des revendications précédentes, caractérisé en ce que l'embout comporte des moyens (22...26) pour maintenir la pièce (17) et propres à libérer cette pièce sur ordre du robot quand elle est engagée dans son alésage.9. - Robot wrist according to one of the preceding claims, characterized in that the end piece comprises means (22 ... 26) for holding the part (17) and suitable for releasing this part on the robot's order when it is engaged in its bore.
EP84402575A 1983-12-23 1984-12-13 Magnetic robot wrist Expired EP0148677B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8320978 1983-12-23
FR8320978A FR2558404B1 (en) 1983-12-23 1983-12-23 MAGNETIC ROBOT WRIST

Publications (2)

Publication Number Publication Date
EP0148677A1 true EP0148677A1 (en) 1985-07-17
EP0148677B1 EP0148677B1 (en) 1989-03-22

Family

ID=9295678

Family Applications (1)

Application Number Title Priority Date Filing Date
EP84402575A Expired EP0148677B1 (en) 1983-12-23 1984-12-13 Magnetic robot wrist

Country Status (4)

Country Link
US (1) US4609325A (en)
EP (1) EP0148677B1 (en)
DE (1) DE3477354D1 (en)
FR (1) FR2558404B1 (en)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE8506071U1 (en) * 1985-03-02 1985-05-23 Sillner, Georg, 8411 Zeitlarn Turning device for electrical radial components
US4778329A (en) * 1986-03-21 1988-10-18 General Motors Corporation Robot with floating XY plane arm
JPH0453914Y2 (en) * 1986-09-16 1992-12-17
DE3641368A1 (en) * 1986-12-03 1988-06-09 Mannesmann Ag STORAGE FOR A GRIPPER OR THE LIKE
US4896431A (en) * 1987-11-06 1990-01-30 Canon Kabushiki Kaisha Alignment apparatus
US4860864A (en) * 1987-11-16 1989-08-29 General Motors Corporation Clutch for robot or like
US5020964A (en) * 1989-11-27 1991-06-04 Ford Motor Company Method and apparatus for robotic transfer of workpieces
US5727717A (en) * 1991-07-16 1998-03-17 Vigne; Patrick Magnetically coupled joints for mannequins and forms
US5180248A (en) * 1991-08-05 1993-01-19 Motorola, Inc. Method and apparatus for correcting misalignments in couplings
US7144179B2 (en) * 2000-01-26 2006-12-05 Fusion Specialties, Inc. Display form having magnetically attachable parts
EP1264027B1 (en) 2000-01-26 2007-03-14 Fusion Specialties, Inc. Display form having magnetically attachable parts
DE10244964B4 (en) * 2002-09-26 2013-10-17 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Device and method for automatic loading of clamping magazines with workpieces
ES1054227Y (en) * 2003-01-20 2003-10-16 Simon Bernat Amadas SELF-CENTER FOR COUPLING BETWEEN TWO BODIES.
JP4286280B2 (en) * 2006-12-01 2009-06-24 株式会社ビーイング Robot hand overload safety device
CN100448628C (en) * 2007-06-20 2009-01-07 重庆大学 Mechanical flexibility space buttjunction platform
DE102014102791A1 (en) * 2014-03-03 2015-09-03 Bayerische Motoren Werke Aktiengesellschaft vacuum gripper
CN115319788A (en) 2017-03-06 2022-11-11 伯克希尔格雷运营股份有限公司 System and method for efficiently moving various objects

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1504027A (en) * 1966-10-21 1967-12-01 Materiel Electromagnetique S I Magnetic centering device
US4098001A (en) * 1976-10-13 1978-07-04 The Charles Stark Draper Laboratory, Inc. Remote center compliance system
US4179783A (en) * 1974-12-16 1979-12-25 Hitachi, Ltd. Holding apparatus with elastic mechanism
FR2445199A1 (en) * 1978-12-27 1980-07-25 Jaz Sa Wrist for rivet-placing robot arm - uses ball joint pincer mounting with springs connecting ball segment to motor crank shaft on slide plate
WO1980001547A1 (en) * 1979-02-02 1980-08-07 C Johansson Mechanical device for guiding the relative movement between two movable parts
FR2474927A1 (en) * 1980-02-04 1981-08-07 Jungheinrich Kg RETENTION DEVICE PROVIDED BETWEEN A DETACHABLE HOLDING ARM AND A HOLDER OF A HANDLING APPARATUS

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2678228A (en) * 1951-06-08 1954-05-11 Bausch & Lomb Diagnostic instrument with magnetic connector
BE548557A (en) * 1955-06-13 Eckold Walter
US3079191A (en) * 1960-02-12 1963-02-26 Walker O S Co Inc Permanent magnet lifting device
SU872256A1 (en) * 1980-01-14 1981-10-15 Предприятие П/Я Р-6930 Industrial robot hand
US4337579A (en) * 1980-04-16 1982-07-06 The Charles Stark Draper Laboratory, Inc. Deformable remote center compliance device
CH644291A5 (en) * 1981-05-15 1984-07-31 Microbo Sa Orientation device with a centre of rotation outside a machine (assembly) tool

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1504027A (en) * 1966-10-21 1967-12-01 Materiel Electromagnetique S I Magnetic centering device
US4179783A (en) * 1974-12-16 1979-12-25 Hitachi, Ltd. Holding apparatus with elastic mechanism
US4098001A (en) * 1976-10-13 1978-07-04 The Charles Stark Draper Laboratory, Inc. Remote center compliance system
FR2445199A1 (en) * 1978-12-27 1980-07-25 Jaz Sa Wrist for rivet-placing robot arm - uses ball joint pincer mounting with springs connecting ball segment to motor crank shaft on slide plate
WO1980001547A1 (en) * 1979-02-02 1980-08-07 C Johansson Mechanical device for guiding the relative movement between two movable parts
FR2474927A1 (en) * 1980-02-04 1981-08-07 Jungheinrich Kg RETENTION DEVICE PROVIDED BETWEEN A DETACHABLE HOLDING ARM AND A HOLDER OF A HANDLING APPARATUS

Also Published As

Publication number Publication date
DE3477354D1 (en) 1989-04-27
FR2558404B1 (en) 1986-12-19
US4609325A (en) 1986-09-02
FR2558404A1 (en) 1985-07-26
EP0148677B1 (en) 1989-03-22

Similar Documents

Publication Publication Date Title
EP0148677B1 (en) Magnetic robot wrist
WO1983004302A1 (en) Device for handling a cylindrical or spherical part
FR3070062B1 (en) ANTI-ROTATION WITH CABLES
EP0070766B1 (en) Hinge pin for interconnecting two members
FR2540950A1 (en) SELF-CENTER TYPE CLUTCH DEVICE
FR2728378B1 (en) ROTATION DEVICE FOR READING AN OPTICAL DISC
FR2527965A1 (en) Sliding guide for robot arm - uses pairs of rollers straddling opposite corners of section with their axes parallel and diagonal
EP0336802A1 (en) Roller, especially for luggage
EP0044245B1 (en) Gripper with optical sensors and apparatus making use thereof
FR2476407A1 (en) CENTERING DEVICE OF A ROTOR
FR2574879A1 (en) TOLERANCE RETRACTION JOINT AND METHOD FOR JOINING TWO STRUCTURE ELEMENTS OF A MACHINE
EP0593338B1 (en) Device for making an assembly of two pieces in a screwing workstation
FR2459399A1 (en) RING FOR SUPPORTING AND TIGHTENING MECHANICAL ORGANS ON A TREE
FR2735551A1 (en) LOCKING DEVICE FOR MECHANICAL GEARBOX
FR2527828A1 (en) DEVICE FOR STOPPING THE TRANSMISSION OF SEISMIC PHENOMENA
FR2689581A1 (en) Self-locking metal cap and plastic bearing.
FR3113956A1 (en) Fixing device for spectacle frames.
FR2781174A1 (en) FINISHING TOOL, PARTICULARLY FOR OPHTHALMIC LENS, AND EQUIPMENT SPECIFIC TO ITS IMPLEMENTATION
FR2766884A1 (en) Snap hook for rock climbers or cavers
FR2473142A1 (en) RELEASE BEARING FOR FRICTION CLUTCH
EP0307327B1 (en) Screwed connecting device between two elements affording adjustment of the distance between them
EP0045248B1 (en) Shock and/or vibration damping mounting
FR2525513A1 (en) SELF-ADAPTER TIGHTENING DEVICE AND VIBRATION LIMITER
FR2561973A1 (en) Passive compliant wrist, which can be fitted to the end of a remote manipulation arm for various objects
EP1757828A1 (en) Stopping device for a bearing system and mounting method

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Designated state(s): DE GB IT

17P Request for examination filed

Effective date: 19851128

17Q First examination report despatched

Effective date: 19870401

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE GB IT

ITF It: translation for a ep patent filed

Owner name: JACOBACCI & PERANI S.P.A.

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)
REF Corresponds to:

Ref document number: 3477354

Country of ref document: DE

Date of ref document: 19890427

REG Reference to a national code

Ref country code: GB

Ref legal event code: 746

ITPR It: changes in ownership of a european patent

Owner name: OFFERTA DI LICENZA AL PUBBLICO

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed
ITTA It: last paid annual fee
PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 19971205

Year of fee payment: 14

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 19971222

Year of fee payment: 14

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19981213

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 19981213

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19991001